ManuelW/grbl-LPC-CoreXY
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Merge pull request #356 from robgrz/dev

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Line number reporting as compile-time option.
This commit is contained in:
Sonny Jeon 2014-02-19 07:32:51 -07:00
commit 9c95c1439f
8 changed files with 97 additions and 68 deletions
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4
config.h
View File

@ -28,6 +28,10 @@
#ifndef config_h
#define config_h
// Allows GRBL to tranck and report gcode line numbers. Enabling this means that the planning buffer
// goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct
#define USE_LINE_NUMBERS
// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
#define DEFAULTS_SHERLINE_5400

14
gcode.c
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@ -101,6 +101,7 @@ uint8_t gc_execute_line(char *line)
float target[N_AXIS];
clear_vector(target); // XYZ(ABC) axes parameters.
uint32_t line_number = 0;
gc.arc_radius = 0;
clear_vector(gc.arc_offset); // IJK Arc offsets are incremental. Value of zero indicates no change.
@ -215,7 +216,7 @@ uint8_t gc_execute_line(char *line)
char_counter = 0;
while(next_statement(&letter, &value, line, &char_counter)) {
switch(letter) {
case 'G': case 'M': case 'N': break; // Ignore command statements and line numbers
case 'G': case 'M': break; // Ignore command statements and line numbers
case 'F':
if (value <= 0) { FAIL(STATUS_INVALID_STATEMENT); } // Must be greater than zero
if (gc.inverse_feed_rate_mode) {
@ -226,6 +227,7 @@ uint8_t gc_execute_line(char *line)
break;
case 'I': case 'J': case 'K': gc.arc_offset[letter-'I'] = to_millimeters(value); break;
case 'L': l = trunc(value); break;
case 'N': line_number = trunc(value); break;
case 'P': p = value; break;
case 'R': gc.arc_radius = to_millimeters(value); break;
case 'S':
@ -329,7 +331,7 @@ uint8_t gc_execute_line(char *line)
target[idx] = gc.position[idx];
}
}
mc_line(target, -1.0, false);
mc_line(target, -1.0, false, line_number);
}
// Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
float coord_data[N_AXIS];
@ -338,7 +340,7 @@ uint8_t gc_execute_line(char *line)
} else {
if (!settings_read_coord_data(SETTING_INDEX_G30,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
}
mc_line(coord_data, -1.0, false);
mc_line(coord_data, -1.0, false, line_number);
memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[];
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
break;
@ -409,7 +411,7 @@ uint8_t gc_execute_line(char *line)
break;
case MOTION_MODE_SEEK:
if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
else { mc_line(target, -1.0, false); }
else { mc_line(target, -1.0, false, line_number); }
break;
case MOTION_MODE_LINEAR:
// TODO: Inverse time requires F-word with each statement. Need to do a check. Also need
@ -417,7 +419,7 @@ uint8_t gc_execute_line(char *line)
// and after an inverse time move and then check for non-zero feed rate each time. This
// should be efficient and effective.
if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode, line_number); }
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// Check if at least one of the axes of the selected plane has been specified. If in center
@ -441,7 +443,7 @@ uint8_t gc_execute_line(char *line)
// Trace the arc
mc_arc(gc.position, target, gc.arc_offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2,
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,
gc.arc_radius, isclockwise);
gc.arc_radius, isclockwise, line_number);
}
break;
}

90
limits.c
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@ -83,13 +83,13 @@ void limits_disable()
// moves in the planner and serial buffers are all cleared and newly sent blocks will be
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
if (sys.state != STATE_ALARM) {
if (sys.state != STATE_ALARM) {
if (bit_isfalse(sys.execute,EXEC_ALARM)) {
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
}
}
}
#else // OPTIONAL: Software debounce limit pin routine.
// Upon limit pin change, enable watchdog timer to create a short delay.
ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
@ -102,12 +102,12 @@ void limits_disable()
// Check limit pin state.
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
if (bits & LIMIT_MASK) {
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
}
}
}
#endif
@ -120,14 +120,14 @@ void limits_disable()
void limits_go_home(uint8_t cycle_mask)
{
if (sys.abort) { return; } // Block if system reset has been issued.
// Initialize homing in search mode to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
uint8_t invert_pin, idx;
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
float target[N_AXIS];
// Determine travel distance to the furthest homing switch based on user max travel settings.
// NOTE: settings.max_travel[] is stored as a negative value.
float max_travel = settings.max_travel[X_AXIS];
@ -142,58 +142,58 @@ void limits_go_home(uint8_t cycle_mask)
if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { invert_pin = approach; }
else { invert_pin = !approach; }
// Set target location and rate for active axes.
uint8_t n_active_axis = 0;
// Set target location and rate for active axes.
uint8_t n_active_axis = 0;
for (idx=0; idx<N_AXIS; idx++) {
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
n_active_axis++;
if (!approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
} else {
} else {
target[idx] = 0.0;
}
}
if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
}
}
if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
// Reset homing axis locks based on cycle mask.
uint8_t axislock = 0;
if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
sys.homing_axis_lock = axislock;
uint8_t axislock = 0;
if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
uint8_t limit_state;
plan_buffer_line(target, homing_rate, false); // Bypass mc_line(). Directly plan homing motion.
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
uint8_t limit_state;
plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
st_wake_up(); // Initiate motion
do {
// Check limit state. Lock out cycle axes when they change.
limit_state = LIMIT_PIN;
if (invert_pin) { limit_state ^= LIMIT_MASK; }
if (axislock & (1<<X_STEP_BIT)) {
if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
}
if (axislock & (1<<Y_STEP_BIT)) {
if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
}
if (axislock & (1<<Z_STEP_BIT)) {
if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
}
sys.homing_axis_lock = axislock;
st_wake_up(); // Initiate motion
do {
// Check limit state. Lock out cycle axes when they change.
limit_state = LIMIT_PIN;
if (invert_pin) { limit_state ^= LIMIT_MASK; }
if (axislock & (1<<X_STEP_BIT)) {
if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
}
if (axislock & (1<<Y_STEP_BIT)) {
if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
}
if (axislock & (1<<Z_STEP_BIT)) {
if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
}
sys.homing_axis_lock = axislock;
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Check only for user reset. No time to run protocol_execute_runtime() in this loop.
if (sys.execute & EXEC_RESET) { protocol_execute_runtime(); return; }
} while (STEP_MASK & axislock);
} while (STEP_MASK & axislock);
st_reset(); // Immediately force kill steppers and reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure homing motion is cleared.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
// Reverse direction and reset homing rate for locate cycle(s).
homing_rate = settings.homing_feed_rate;
@ -225,7 +225,7 @@ void limits_go_home(uint8_t cycle_mask)
}
}
plan_sync_position(); // Sync planner position to current machine position for pull-off move.
plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
// Initiate pull-off using main motion control routines.
// TODO : Clean up state routines so that this motion still shows homing state.

16
motion_control.c
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@ -39,7 +39,7 @@
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number)
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
@ -71,7 +71,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
else { break; }
} while (1);
plan_buffer_line(target, feed_rate, invert_feed_rate);
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
@ -87,7 +87,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise)
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, uint32_t line_number)
{
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
@ -183,14 +183,14 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
mc_line(arc_target, feed_rate, invert_feed_rate);
mc_line(arc_target, feed_rate, invert_feed_rate, line_number);
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) { return; }
}
}
// Ensure last segment arrives at target location.
mc_line(target, feed_rate, invert_feed_rate);
mc_line(target, feed_rate, invert_feed_rate, line_number);
}
@ -228,16 +228,16 @@ void mc_homing_cycle()
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_sync_position();
// Set idle state after homing completes and before returning to main program.
sys.state = STATE_IDLE;
st_go_idle(); // Set idle state after homing completes

5
motion_control.h
View File

@ -22,18 +22,19 @@
#ifndef motion_control_h
#define motion_control_h
#define HOMING_CYCLE_LINE_NUMBER 1000000000
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
// for vector transformation direction.
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise);
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, uint32_t line_number);
// Dwell for a specific number of seconds
void mc_dwell(float seconds);

6
planner.c
View File

@ -259,7 +259,7 @@ uint8_t plan_check_full_buffer()
is used in three ways: as a normal feed rate if invert_feed_rate is false, as inverse time if
invert_feed_rate is true, or as seek/rapids rate if the feed_rate value is negative (and
invert_feed_rate always false). */
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate)
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number)
{
// Prepare and initialize new block
plan_block_t *block = &block_buffer[block_buffer_head];
@ -267,7 +267,9 @@ void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate)
block->millimeters = 0;
block->direction_bits = 0;
block->acceleration = SOME_LARGE_VALUE; // Scaled down to maximum acceleration later
#ifdef USE_LINE_NUMBERS
block->line_number = line_number;
#endif
// Compute and store initial move distance data.
// TODO: After this for-loop, we don't touch the stepper algorithm data. Might be a good idea
// to try to keep these types of things completely separate from the planner for portability.

11
planner.h
View File

@ -26,7 +26,11 @@
// The number of linear motions that can be in the plan at any give time
#ifndef BLOCK_BUFFER_SIZE
#define BLOCK_BUFFER_SIZE 18
#ifdef USE_LINE_NUMBERS
#define BLOCK_BUFFER_SIZE 16
#else
#define BLOCK_BUFFER_SIZE 18
#endif
#endif
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
@ -47,6 +51,9 @@ typedef struct {
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2)
float millimeters; // The remaining distance for this block to be executed in (mm)
// uint8_t max_override; // Maximum override value based on axis speed limits
#ifdef USE_LINE_NUMBERS
uint32_t line_number;
#endif
} plan_block_t;
@ -56,7 +63,7 @@ void plan_reset();
// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate);
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.

19
report.c
View File

@ -32,6 +32,7 @@
#include "settings.h"
#include "gcode.h"
#include "coolant_control.h"
#include "planner.h"
#include "spindle_control.h"
@ -261,9 +262,9 @@ void report_gcode_modes()
}
switch (gc.spindle_direction) {
case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break;
case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break;
case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break;
case 1 : printPgmString(PSTR(" M3")); break;
case -1 : printPgmString(PSTR(" M4")); break;
case 0 : printPgmString(PSTR(" M5")); break;
}
switch (gc.coolant_mode) {
@ -350,5 +351,17 @@ void report_realtime_status()
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
#ifdef USE_LINE_NUMBERS
// Report current line number
printPgmString(PSTR(","));
printPgmString(PSTR("Ln:"));
uint32_t ln=0;
plan_block_t * pb = plan_get_current_block();
if(pb != NULL) {
ln = pb->line_number;
}
printInteger(ln);
#endif
printPgmString(PSTR(">\r\n"));
}